mirror of https://github.com/ArduPilot/ardupilot
mk: new make files for VRBRAIN
This commit is contained in:
Emile Castelnuovo
Andrew Tridgell
parent
201332caef
commit
bbe0362600
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#
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# Makefile for the vrbrain-v4_APM configuration
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#
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#
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# Use the configuration's ROMFS.
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#
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ROMFS_ROOT = $(SKETCHBOOK)/mk/VRBRAIN/ROMFS
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MODULES += $(APM_MODULE_DIR)
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#
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# Board support modules
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#
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MODULES += drivers/device
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MODULES += drivers/stm32
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MODULES += drivers/stm32/adc
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MODULES += drivers/stm32/tone_alarm
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MODULES += drivers/led
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MODULES += drivers/px4fmu
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MODULES += drivers/boards/vrbrain-v4
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MODULES += drivers/mpu6000
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MODULES += drivers/hmc5883
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MODULES += drivers/ms5611
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#
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# System commands
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#
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MODULES += systemcmds/mtd
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MODULES += systemcmds/tests
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MODULES += systemcmds/nshterm
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#
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# General system control
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#
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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#
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# Vehicle Control
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#
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#
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# Logging
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#
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#
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# Unit tests
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#
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#
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# Library modules
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#
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MODULES += modules/systemlib
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MODULES += modules/uORB
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#
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# Libraries
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#
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MODULES += lib/mathlib/math/filter
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#
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# Transitional support - add commands from the NuttX export archive.
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#
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# In general, these should move to modules over time.
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#
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# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
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# to make the table a bit more readable.
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#
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define _B
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$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
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endef
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# command priority stack entrypoint
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BUILTIN_COMMANDS := \
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$(call _B, sercon, , 2048, sercon_main ) \
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$(call _B, serdis, , 2048, serdis_main ) \
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$(call _B, msconn, , 2048, msconn_main ) \
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$(call _B, msdis, , 2048, msdis_main ) \
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$(call _B, sysinfo, , 2048, sysinfo_main )
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@ -0,0 +1,162 @@
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#
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# Makefile for the vrbrain-v5_APM configuration
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#
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#
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# Use the configuration's ROMFS.
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#
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ROMFS_ROOT = $(SKETCHBOOK)/mk/VRBRAIN/ROMFS
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MODULES += $(APM_MODULE_DIR)
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#
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# Board support modules
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#
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MODULES += drivers/device
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MODULES += drivers/stm32
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MODULES += drivers/stm32/adc
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MODULES += drivers/stm32/tone_alarm
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MODULES += drivers/led
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MODULES += drivers/px4fmu
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MODULES += drivers/boards/vrbrain-v5
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MODULES += drivers/mpu6000
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MODULES += drivers/hmc5883
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MODULES += drivers/ms5611
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#
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# System commands
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#
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MODULES += systemcmds/mtd
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MODULES += systemcmds/tests
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MODULES += systemcmds/nshterm
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#
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# General system control
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#
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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#
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# Vehicle Control
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#
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#
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# Logging
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#
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#
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# Unit tests
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#
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#
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# Library modules
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#
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MODULES += modules/systemlib
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MODULES += modules/uORB
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#
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# Libraries
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#
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MODULES += lib/mathlib/math/filter
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#
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# Transitional support - add commands from the NuttX export archive.
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#
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# In general, these should move to modules over time.
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#
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# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
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# to make the table a bit more readable.
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#
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define _B
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$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
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endef
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# command priority stack entrypoint
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BUILTIN_COMMANDS := \
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$(call _B, sercon, , 2048, sercon_main ) \
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$(call _B, serdis, , 2048, serdis_main ) \
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$(call _B, msconn, , 2048, msconn_main ) \
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$(call _B, msdis, , 2048, msdis_main ) \
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$(call _B, sysinfo, , 2048, sysinfo_main )
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@ -0,0 +1,3 @@
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TOOLCHAIN = NATIVE
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include $(MK_DIR)/find_tools.mk
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include $(MK_DIR)/vrbrain_targets.mk
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# VRBRAIN build is via external build system
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ifneq ($(VRBRAIN_ROOT),)
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# cope with relative paths
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ifeq ($(wildcard $(VRBRAIN_ROOT)/nuttx-configs),)
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VRBRAIN_ROOT := $(shell cd $(SKETCHBOOK)/$(VRBRAIN_ROOT) && pwd)
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endif
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# check it is a valid VRBRAIN Firmware tree
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ifeq ($(wildcard $(VRBRAIN_ROOT)/nuttx-configs),)
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$(error ERROR: VRBRAIN_ROOT not set correctly - no nuttx-configs directory found)
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endif
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# default to VRBRAIN NuttX above the VRBRAIN Firmware tree
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ifeq ($(VRBRAIN_NUTTX_SRC),)
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VRBRAIN_NUTTX_SRC := $(shell cd $(VRBRAIN_ROOT)/NuttX/nuttx && pwd)/
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endif
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# cope with relative paths for VRBRAIN_NUTTX_SRC
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ifeq ($(wildcard $(VRBRAIN_NUTTX_SRC)/configs),)
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VRBRAIN_NUTTX_SRC := $(shell cd $(SKETCHBOOK)/$(VRBRAIN_NUTTX_SRC) && pwd)/
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endif
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ifeq ($(wildcard $(VRBRAIN_NUTTX_SRC)configs),)
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$(error ERROR: VRBRAIN_NUTTX_SRC not set correctly - no configs directory found)
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endif
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# we have different config files for vrbrain_v4, vrbrain_v5 and vrhero_v1
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VRBRAIN_VB4_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrbrain-v4_APM.mk
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VRBRAIN_VB5_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrbrain-v5_APM.mk
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VRBRAIN_VH1_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrhero-v1_APM.mk
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SKETCHFLAGS=$(SKETCHLIBINCLUDES) -I$(PWD) -DARDUPILOT_BUILD -DCONFIG_HAL_BOARD=HAL_BOARD_VRBRAIN -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
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WARNFLAGS = -Wno-psabi -Wno-packed
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VRBRAIN_MAKE = $(v) make -C $(SKETCHBOOK) -f $(VRBRAIN_ROOT)/Makefile EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) VRBRAIN_ROOT=$(VRBRAIN_ROOT) VRBRAIN_NUTTX_SRC=$(VRBRAIN_NUTTX_SRC) MAXOPTIMIZATION="-Os"
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VRBRAIN_MAKE_ARCHIVES = make -C $(VRBRAIN_ROOT) VRBRAIN_NUTTX_SRC=$(VRBRAIN_NUTTX_SRC) archives MAXOPTIMIZATION="-Os"
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.PHONY: module_mk
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module_mk:
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$(RULEHDR)
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$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
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$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
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$(v) echo "SRCS = Build.$(SKETCH)/$(SKETCH).cpp $(SKETCHLIBSRCSRELATIVE)" >> $(SKETCHBOOK)/module.mk.new
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$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
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$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
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$(v) rm -f $(SKETCHBOOK)/module.mk.new
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vrbrain-v4: showflags $(VRBRAIN_ROOT)/Archives/vrbrain-v4.export $(SKETCHCPP) module_mk
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$(RULEHDR)
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB4_CONFIG_FILE)
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$(v) cp $(SRCROOT)/$(VRBRAIN_VB4_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
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$(v) $(VRBRAIN_MAKE) vrbrain-v4_APM
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$(v) /bin/rm -f $(SKETCH)-vrbrain-v4.vrbrain
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$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v4_APM.vrbrain $(SKETCH)-vrbrain-v4.vbrain
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$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v4.vbrain"
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vrbrain-v5: showflags $(VRBRAIN_ROOT)/Archives/vrbrain-v5.export $(SKETCHCPP) module_mk
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$(RULEHDR)
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB5_CONFIG_FILE)
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$(v) cp $(SRCROOT)/$(VRBRAIN_VB5_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
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$(v) $(VRBRAIN_MAKE) vrbrain-v5_APM
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$(v) /bin/rm -f $(SKETCH)-vrbrain-v5.vrbrain
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$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v5_APM.vrbrain $(SKETCH)-vrbrain-v5.vbrain
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$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v5.vbrain"
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vrhero-v1: showflags $(VRBRAIN_ROOT)/Archives/vrhero-v1.export $(SKETCHCPP) module_mk
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$(RULEHDR)
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$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VH1_CONFIG_FILE)
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$(v) cp $(SRCROOT)/$(VRBRAIN_VH1_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
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$(v) $(VRBRAIN_MAKE) vrhero-v1_APM
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$(v) /bin/rm -f $(SKETCH)-vrhero-v1.vrbrain
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$(v) cp $(VRBRAIN_ROOT)/Images/vrhero-v1_APM.vrbrain $(SKETCH)-vrhero-v1.vbrain
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$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrhero-v1.vbrain"
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#vrbrain: vrbrain-v4 vrbrain-v5 vrhero-v1
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vrbrain: vrbrain-v4 vrbrain-v5
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#vrbrain: vrbrain-v4
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vrbrain-clean: clean vrbrain-archives-clean
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$(v) /bin/rm -rf $(VRBRAIN_ROOT)/makefiles/build $(VRBRAIN_ROOT)/Build
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vrbrain-cleandep: clean
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$(v) find $(VRBRAIN_ROOT)/Build -type f -name '*.d' | xargs rm -f
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vrbrain-v4-upload: vrbrain-v4
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$(RULEHDR)
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$(v) $(VRBRAIN_MAKE) vrbrain-v4_APM upload
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vrbrain-v5-upload: vrbrain-v5
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$(RULEHDR)
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$(v) $(VRBRAIN_MAKE) vrbrain-v5_APM upload
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vrhero-v1-upload: vrhero-v1
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$(RULEHDR)
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$(v) $(VRBRAIN_MAKE) vrhero-v1_APM upload
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vrbrain-upload: vrbrain-v4-upload
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vrbrain-archives-clean:
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$(v) /bin/rm -rf $(VRBRAIN_ROOT)/Archives
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$(VRBRAIN_ROOT)/Archives/vrbrain-v4.export:
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$(v) $(VRBRAIN_MAKE_ARCHIVES)
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$(VRBRAIN_ROOT)/Archives/vrbrain-v5.export:
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$(v) $(VRBRAIN_MAKE_ARCHIVES)
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$(VRBRAIN_ROOT)/Archives/vrhero-v1.export:
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$(v) $(VRBRAIN_MAKE_ARCHIVES)
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vrbrain-archives:
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$(v) $(VRBRAIN_MAKE_ARCHIVES)
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else
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vrbrain_nx:
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$(error ERROR: You need to add VRBRAIN_ROOT to your config.mk)
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vrbrain-clean: vrbrain
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vrbrain-upload: vrbrain
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endif
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